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   &#160;<span id="projectnumber">v0.1.0</span>
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<div class="title">data_bus.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;iomanip&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structDataBus.html">   15</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structDataBus.html">DataBus</a>{</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> model_nv; <span class="comment">// number of dq</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="comment">// const values for frame mismatch</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">const</span> Eigen::Matrix3d fe_L_rot_L_off=(Eigen::MatrixXd(3,3)&lt;&lt; 1,0,0, 0,1,0, 0,0,1).finished(); <span class="comment">// left foot-end R w.r.t to the body frame in offset posture</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keyword">const</span> Eigen::Matrix3d fe_R_rot_L_off=(Eigen::MatrixXd(3,3)&lt;&lt; 1,0,0, 0,1,0, 0,0,1).finished();</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="comment">// motors, sensors and states feedback</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keywordtype">double</span> rpy[3];</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">double</span> fL[3];</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordtype">double</span> fR[3];</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordtype">double</span> basePos[3];</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordtype">double</span> baseLinVel[3]; <span class="comment">// velocity of the basePos</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordtype">double</span> baseAcc[3];   <span class="comment">// baseAcc of the base link</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordtype">double</span> baseAngVel[3];  <span class="comment">// angular velocity of the base link</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    std::vector&lt;double&gt; motors_pos_cur;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    std::vector&lt;double&gt; motors_vel_cur;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    std::vector&lt;double&gt; motors_tor_cur;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    Eigen::VectorXd FL_est, FR_est;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">// PVT controls</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    std::vector&lt;double&gt; motors_pos_des;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    std::vector&lt;double&gt; motors_vel_des;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    std::vector&lt;double&gt; motors_tor_des;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    std::vector&lt;double&gt; motors_tor_out;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">// states and key variables</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    Eigen::VectorXd q, dq, ddq;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    Eigen::VectorXd qOld;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    Eigen::MatrixXd J_base, J_l, J_r, J_hd_l, J_hd_r;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    Eigen::MatrixXd dJ_base, dJ_l, dJ_r, dJ_hd_l, dJ_hd_r;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    Eigen::Vector3d fe_r_pos_W, fe_l_pos_W, base_pos;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    Eigen::Matrix3d fe_r_rot_W, fe_l_rot_W, base_rot; <span class="comment">// in world frame</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    Eigen::Vector3d fe_r_pos_L, fe_l_pos_L; <span class="comment">// in Body frame</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    Eigen::Vector3d hip_r_pos_L, hip_l_pos_L;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    Eigen::Vector3d hip_r_pos_W, hip_l_pos_W;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    Eigen::Matrix3d fe_r_rot_L, fe_l_rot_L;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    Eigen::Vector3d fe_r_pos_L_cmd, fe_l_pos_L_cmd;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    Eigen::Matrix3d fe_r_rot_L_cmd, fe_l_rot_L_cmd;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    Eigen::Vector3d hd_r_pos_W, hd_l_pos_W; <span class="comment">// in world frame</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    Eigen::Matrix3d hd_r_rot_W, hd_l_rot_W;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    Eigen::Vector3d hd_r_pos_L, hd_l_pos_L; <span class="comment">// in body frame</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    Eigen::Matrix3d hd_r_rot_L, hd_l_rot_L;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    Eigen::VectorXd qCmd, dqCmd;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    Eigen::VectorXd tauJointCmd;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    Eigen::MatrixXd dyn_M, dyn_M_inv, dyn_C, dyn_Ag, dyn_dAg;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    Eigen::VectorXd dyn_G, dyn_Non;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    Eigen::Vector3d base_omega_L, base_omega_W, base_rpy;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    Eigen::Vector3d slop;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    Eigen::Matrix&lt;double,3,3&gt;   inertia;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">// cmd value from the joystick interpreter</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    Eigen::Vector3d     js_eul_des;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    Eigen::Vector3d     js_pos_des;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    Eigen::Vector3d     js_omega_des;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    Eigen::Vector3d     js_vel_des;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// cmd values for MPC</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Eigen::VectorXd     Xd;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    Eigen::VectorXd     X_cur;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">//    Eigen::Vector3d     mpc_eul_des;</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">//    Eigen::Vector3d     mpc_pos_des;</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">//    Eigen::Vector3d     mpc_omega_des;</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">//    Eigen::Vector3d     mpc_vel_des;</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    Eigen::VectorXd     X_cal;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    Eigen::VectorXd     dX_cal;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    Eigen::VectorXd     fe_react_tau_cmd;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordtype">double</span> qp_nWSR_MPC, qp_cpuTime_MPC, qpStatus_MPC;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">// cmd values for WBC</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    Eigen::Vector3d base_rpy_des;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    Eigen::Vector3d base_pos_des;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    Eigen::VectorXd des_ddq, des_dq, des_delta_q, des_q;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    Eigen::Vector3d swing_fe_pos_des_W;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    Eigen::Vector3d swing_fe_rpy_des_W;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    Eigen::Vector3d stance_fe_pos_cur_W;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    Eigen::Matrix3d stance_fe_rot_cur_W;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    Eigen::VectorXd wbc_delta_q_final, wbc_dq_final, wbc_ddq_final;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    Eigen::VectorXd wbc_tauJointRes;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    Eigen::VectorXd wbc_FrRes;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    Eigen::VectorXd Fr_ff;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordtype">int</span> qp_nWSR;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">double</span> qp_cpuTime;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordtype">int</span> qp_status;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="comment">// values for foot-placement</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    Eigen::Vector3d swingStartPos_W;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    Eigen::Vector3d swingDesPosCur_L;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    Eigen::Vector3d stanceDesPos_W;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    Eigen::Vector3d posHip_W;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    Eigen::Vector3d desV_W; <span class="comment">// desired linear velocity</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">double</span> desWz_W; <span class="comment">// desired angular velocity</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">double</span> theta0; <span class="comment">// offset yaw angle of the swing leg, w.r.t body frame</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">double</span> width_hips; <span class="comment">// distance between the left and right hip</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">double</span> tSwing;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">double</span> phi;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keyword">enum</span> LegState{</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        LSt,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        RSt,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        DSt   <span class="comment">// no use but reserverd</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    };</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordtype">double</span> thetaZ_des{0};</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    LegState legState;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    LegState legStateNext;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="comment">// for jump</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    Eigen::Vector3d base_pos_stand;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    Eigen::Matrix&lt;double,6,1&gt; pfeW_stand, pfeW0;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="comment">//Eigen::Vector3d mpc_eul_des, mpc_omega_des, mpc_vel_des, mpc_pos_des;</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <a class="code" href="structDataBus.html">DataBus</a>(<span class="keywordtype">int</span> model_nvIn): model_nv(model_nvIn){</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        motors_pos_cur.assign(model_nv-6,0);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        motors_vel_cur.assign(model_nv-6,0);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        motors_tor_out.assign(model_nv-6,0);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        motors_tor_cur.assign(model_nv-6,0);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        motors_tor_des.assign(model_nv-6,0);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        motors_vel_des.assign(model_nv-6,0);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        motors_pos_des.assign(model_nv-6,0);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        q=Eigen::VectorXd::Zero(model_nv+1);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        qOld=Eigen::VectorXd::Zero(model_nv+1);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        dq=Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        ddq=Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        qCmd=Eigen::VectorXd::Zero(model_nv+1);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        dqCmd=Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        tauJointCmd=Eigen::VectorXd::Zero(model_nv-6);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        FL_est=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        FR_est=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        Xd = Eigen::VectorXd::Zero(12*10);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        X_cur = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        X_cal = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        dX_cal = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        fe_react_tau_cmd = Eigen::VectorXd::Zero(13*3);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        Fr_ff = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        des_ddq = Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        des_dq = Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        des_q = Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        des_delta_q = Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        base_rpy_des.setZero();</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        base_pos_des.setZero();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        js_eul_des.setZero();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        js_pos_des.setZero();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        js_omega_des.setZero();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        js_vel_des.setZero();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    };</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="comment">// update q according to sensor values, must update sensor values before</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordtype">void</span> updateQ(){</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        base_omega_W &lt;&lt; baseAngVel[0],baseAngVel[1],baseAngVel[2];</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keyword">auto</span> Rcur= eul2Rot(rpy[0], rpy[1], rpy[2]);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        base_omega_W=Rcur*base_omega_W;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keyword">auto</span> quatNow=eul2quat(rpy[0], rpy[1], rpy[2]);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        q(0)=basePos[0];</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        q(1)=basePos[1];</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        q(2)=basePos[2];</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        q(3)=quatNow.x();</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        q(4)=quatNow.y();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        q(5)=quatNow.z();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        q(6)=quatNow.w();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;model_nv-6;i++)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            q(i+7)=motors_pos_cur[i];</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="comment">//  For THIS project: The base translation and rotation parts are expressed in the world frame</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="comment">//  q = [global_base_position, global_base_quaternion, joint_positions]</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="comment">//  v = [global_base_velocity_linear, global_base_velocity_angular, joint_velocities]</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        Eigen::Vector3d vCoM_L;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        vCoM_L &lt;&lt; baseLinVel[0],baseLinVel[1],baseLinVel[2];</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        dq.block&lt;3,1&gt;(0,0)= vCoM_L;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        dq.block&lt;3,1&gt;(3,0) &lt;&lt; base_omega_W[0],base_omega_W[1],base_omega_W[2];</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;model_nv-6;i++)</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            dq(i+6)=motors_vel_cur[i];</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        base_pos&lt;&lt;q(0),q(1),q(2);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        base_rpy &lt;&lt; rpy[0], rpy[1], rpy[2];</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        base_rot=Rcur;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        qOld=q;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> printdq(<span class="keyword">const</span> Eigen::VectorXd &amp;q){</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;6,1&gt;(0,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;7,1&gt;(6,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;7,1&gt;(13,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;4,1&gt;(20,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;6,1&gt;(24,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;6,1&gt;(30,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> printq(<span class="keyword">const</span> Eigen::VectorXd &amp;q){</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;7,1&gt;(0,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;7,1&gt;(7,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;7,1&gt;(14,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;4,1&gt;(21,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;6,1&gt;(25,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;q.block&lt;6,1&gt;(31,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    Eigen::Matrix&lt;double, 3, 3&gt; eul2Rot(<span class="keywordtype">double</span> roll, <span class="keywordtype">double</span> pitch, <span class="keywordtype">double</span> yaw) {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        Eigen::Matrix&lt;double,3,3&gt; Rx,Ry,Rz;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        Rz&lt;&lt;cos(yaw),-sin(yaw),0,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                sin(yaw),cos(yaw),0,</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                0,0,1;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        Ry&lt;&lt;cos(pitch),0,sin(pitch),</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                0,1,0,</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                -sin(pitch),0,cos(pitch);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        Rx&lt;&lt;1,0,0,</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                0,cos(roll),-sin(roll),</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                0,sin(roll),cos(roll);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordflow">return</span> Rz*Ry*Rx;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    Eigen::Quaterniond eul2quat(<span class="keywordtype">double</span> roll, <span class="keywordtype">double</span> pitch, <span class="keywordtype">double</span> yaw) {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        Eigen::Matrix3d R= eul2Rot(roll,pitch,yaw);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        Eigen::Quaternion&lt;double&gt; quatCur;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        quatCur = R; <span class="comment">//rotation matrix converted to quaternion</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        Eigen::Quaterniond resQuat;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        resQuat=quatCur;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordflow">return</span> resQuat;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;};</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00015">data_bus.h:15</a></div></div>
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